CN103308854A - Method and system for motor motion fault monitoring - Google Patents
Method and system for motor motion fault monitoring Download PDFInfo
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- CN103308854A CN103308854A CN2012100584992A CN201210058499A CN103308854A CN 103308854 A CN103308854 A CN 103308854A CN 2012100584992 A CN2012100584992 A CN 2012100584992A CN 201210058499 A CN201210058499 A CN 201210058499A CN 103308854 A CN103308854 A CN 103308854A
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Abstract
The invention discloses a method and a system for motor motion fault monitoring. The method comprises the following steps of: acquiring an encoder pulse during motion of a motor and using a counter to carry out binary counting on the pulse; taking one binary digit of a numerical value in the counter and judging whether the value of the binary digit changes, judging that a fault occurs in the motion of the motor if the value of the binary digit changes, and carrying out a next step if the value of the binary digit does not change; and calculating the absolute value of the difference between a value of which the binary digit is 1 and a value of which the binary digit is 0, judging whether the absolute value is always larger than a certain value or smaller than a certain value in a unit time, judging that an encoder in a motor driver is abnormal and reporting an error if the absolute value is always larger than a certain value or smaller than a certain value in a unit time, or judging that the motor runs normally. The method and the system can be used for monitoring a pulse fed back by the encoder in real time during motion of the motor so as to judge whether the motor runs normally and have the advantages of simple implementation, low implementation cost, high judgment accuracy and the like.
Description
Technical field
The present invention relates to a kind of motor movement monitoring technique, especially relate to a kind of motor movement failure monitoring method and system.
Background technology
X ray digitalization radiation shooting system (being called for short DR) is made of hanging type frame, bulb, high pressure generator, detector, image work acquisition station, radiography bed etc.Wherein the hanging type frame comprises the rotation of detector lifting, detector, suspension bracket moves (SID), hangs a lifting and 5 motions of bulb rotation.
Can carry out all in conjunction with each motion of clinical needs that a key puts in place (automatically position) and manual bit manipulation, for three-dimensional position of remembering each motion of automatic when position and processing safety (during normal running between each motion crashproof), scrambler all is equipped with in the rotation of wherein detector lifting, detector, the motion of hanging a lifting and 4 on-stepper motors of bulb rotation, servomotor, and the pulse feedback that gathers the corresponding scrambler that respectively moves with PLC draws the position of each motion by programming.When unusual, do not produce other serious consequence in order to ensure each motion, then in program, need to write one section mechanism of judging each dyskinesia.
At present, the driver of general on-stepper motor, servomotor has all been installed scrambler, and the pulse of encoder feedback draws the position of each motion by programming.And the mode of usually judging the motion fault to be umber of pulse that when motion is received and the time coefficient of motion make comparisons.
For example: with a certain motion, the umber of pulse=A of the umber of pulse that in motor movement, gathers-when stopping; During this motion forward, A increases gradually from 0 when then normal, and A reduces gradually from 0 during counter-rotating; Get absolute value=B of A; If in the motion, can collect 15 left and right sides pulses in per 0.01 second when normal, be 10 if get coefficient, time coefficient C=0.01 counter second * 10 then, then: if during B＞C, judge that motor rotation is normal; If during B＜C, judge that the motion fault appears in motor.
Above-mentioned decision method, because time coefficient pre-determines, the value of time coefficient is not accurately, easily produces following defective: 1, easily be judged to be unusual and report an error in the normal mistiming that starts; 2, after motion a period of time, occur again unusually then can lagging behind reporting an error, easily produce moving component and bump against or hit the serious consequence such as ground and lag behind to report an error; 3, as speed being slowed down or machinery easy misinterpretation and reporting an error when smooth along page or leaf not; 4, report an error as when real appearance is unusual, lagging behind after speed is tuned up.
Summary of the invention
The present invention proposes a kind of motor movement failure monitoring method and system, and the pulse of energy Real Time Monitoring encoder feedback in the motor movement process judges with this whether motor motion occurs normal.
The present invention adopts following technical scheme to realize: a kind of motor movement failure monitoring method, and it comprises step: the encoder pulse when gathering motor movement, carry out binary counting by the counter paired pulses; Get 1 binary digit of numerical value in the counter, judge whether the value of described binary digit changes, if do not change, judge that then motor movement breaks down, if change, then change next step over to; Calculate described binary digit and equal the absolute value that 1 value and this binary digit equal the difference of 0 value, judge described absolute value whether within certain unit interval always greater than certain definite value or less than certain definite value, if, judge that then scrambler in the motor driver occurs unusual and reports an error, otherwise judge that motor movement is normal.
Wherein, described binary digit is one of them binary digit in the least-significant byte of numerical value in the counter.
Wherein, whether whether the value of described binary digit change the value that refers to described binary digit and change between 0 and 1.
Wherein, numerical value deposits a working storage A in the described counter.
Wherein, described binary digit equal 0 and 1 o'clock value deposit respectively working storage B and working storage C in, working storage C intermediate value is deducted working storage B intermediate value, and the result taken absolute value namely obtains described absolute value.
In addition, the present invention also discloses a kind of motor movement failure monitoring system, and it comprises the scrambler that is connected with motor, be used for to gather the counter that binary counting is carried out in the pulse of motor movement information; Motion fault judging unit for 1 binary digit of getting counter numerical value, judges whether the value of described binary digit changes, if do not change, judges that then motor movement breaks down; The scrambler abnormal deciding means, be used for calculating described binary digit and equal the absolute value that 1 value and this binary digit equal the difference of 0 value, judge described absolute value whether within certain unit interval always greater than certain definite value or less than certain definite value, if, judge that then scrambler in the motor driver occurs unusual and reports an error, otherwise judge that motor movement is normal.
Compared with prior art, the present invention has following beneficial effect:
The present invention can Real Time Monitoring in the motor movement process pulse of encoder feedback, judge with this whether motor motion occurs normal, have realize simple, realize that cost is low, and the plurality of advantages such as judging nicety rate height.
Description of drawings
Fig. 1 is schematic flow sheet of the present invention;
Fig. 2 is system authority schematic diagram of the present invention;
Fig. 3 A～Fig. 3 E is respectively the each several part PLC program structure schematic diagram that uses the PLC program to realize in specific embodiment of the present invention.
Embodiment
The present invention proposes a kind of motor movement method for supervising, and the pulse of energy Real Time Monitoring encoder feedback in the motor movement process judges with this whether motor motion occurs normal.
By analyzing as can be known: if motion is broken down (, motor stuck such as mechanical part damage or scrambler damage etc.), the step-by-step counting of encoder feedback can not remake increasing or decreasing and changes so, but rests on a certain numerical value or beat at a certain numerical value.
As shown in Figure 1, specifically, the present invention adopts and comprises the steps:
Step S1, at the volley deposits currency or the changing value of the counter of scrambler in the motor driver (pulse that is used for gathering motor movement information is counted) in a working storage A, gets certain binary digit in this working storage least-significant byte.
Step S2, judge whether numerical value change of this binary digit.
If the numerical value of this binary digit of step S3 does not change, be 0 always or be 1 o'clock always, the state when this motion being described and stopping is the same, can judge that then this motor movement breaks down;
If the value of this binary digit of step S4 changes between 0 and 1, then further this binary digit equal 0 and 1 o'clock value deposit respectively working storage B and working storage C in, again C is deducted B, and gets the absolute value that C deducts the result of B.
Step S5, judge above-mentioned absolute value be within certain unit interval always greater than certain definite value or less than certain definite value, in this way, then judge and judge that scrambler is unusual and report an error, otherwise, assert that motor movement is normal.Wherein, reasonable value is that above-mentioned binary digit subtracts 1 to right decimal system numerical value.
When if motor movement is normal, above-mentioned absolute value only should 1 so far binary digit the number of right decimal system numerical value little 1 is changed (for example: get the 4th binary digit, this scale-of-two is 2 to the right decimal system
3=8, then B subtracts A result's absolute value and only should change between 1 to 7 when normal).The result that C subtracts B as within the unit interval (such as 1 second) always less than than this binary digit to the little value below 2 of right decimal number (for example: get the 4th binary digit, that B subtracts the result of A always less than 2,3,4,5 or 6) time or greater than than this binary digit to right decimal number large 2 (for example: get the 4th binary digit, that B subtracts the result of A always greater than number more than 10), judge that then scrambler reports an error unusually.
As shown in Figure 2, the motor movement supervisory system that the present invention proposes, it comprises the scrambler that is connected with motor, is used for the counter that binary counting is carried out in the pulse of collection motor movement information; Be used for carrying out the motion fault judging unit of above-mentioned steps S1 and step S2; Be used for carrying out the scrambler abnormal deciding means of above-mentioned steps S4 and step S5.
In conjunction with Fig. 3 A～Fig. 3 E, in the hanging type DR gantry motion system, the rotation of detector lifting, detector, hang a lifting and bulb and rotate detector elevating movement fault verification mechanism in the practical programs that adopts Siemens PLC C in the motion (all being by motor-driven) of these 4 parts, the braking that can in time report an error when each motion is broken down, wrong report is wrong or lag behind and report an error after also can or not adjusting frequency converter frequency at proper motion simultaneously and changing motor speed.
" network 6 " illustrates among Fig. 3 A: 1. when detector rose or descend, timer T121 began timing; 2. the currency of detector encoding up/down device pulse feedback is deducted the counted number of pulses when stopping, step-by-step counting VD1148 that must be when the detector elevating movement.VD1152 increases progressively gradually from 0 when rising, VD1148 successively decrease gradually from 0 (for negative) when descending; 3. when VD1148＞0, the numerical value of VD1148 is directly passed to VD1152; When VD1148＜0, with VD1148 *-1, its result is VD1152.Namely get the absolute value of VD1148, its result is VD1152.
" network 7 " illustrates among Fig. 3 B: 1. the absolute value VD1152 with detector lifting pulse is converted to 16 bit value VW1150; 2. after the detector elevating movement starts 1 second (T121＞10), the binary code of the 4th V1951.3 of getting the least-significant byte of 16 of detector elevating movement step-by-step counting absolute values counting VW1150 is 1 and when continuing 0.5 second, then value is the timer T188 output that reports an error in 1 o'clock always; 3. after the detector elevating movement starts 1 second (T121＞10), the binary code of the 4th V1951.3 of getting the least-significant byte of 16 of detector elevating movement step-by-step counting absolute values counting VW1150 is 0 and continues 0.5 second, and then value is the timer T189 output that reports an error in 0 o'clock always.
" network 8 " illustrates among Fig. 3 C: the binary code of the 4th V1951.3 of the least-significant byte of 16 countings of detector elevating movement step-by-step counting absolute value VW1150 is 0 o'clock, and the absolute value of detector lifting pulse is passed to VD1650." network 9 " illustrates: 16 countings of detector elevating movement step-by-step counting absolute value.The binary code of the 4th V1951.3 of the least-significant byte of W1152 is 1 o'clock, and the absolute value of detector lifting pulse is passed to VD1655;
" network 10 " illustrates among Fig. 3 D: 1. the binary code with the 4th V1951.3 of the least-significant byte of 16 of detector elevating movement step-by-step counting absolute values counting VW1150 is 1 o'clock and is that the value of getting respectively in 0 o'clock is subtracted each other, be that VD1655 subtracts VD1650, obtaining a result is VD1660; 2. when VD1660＞0, the numerical value of VD1660 is directly passed to VD1665; When VD1660＜0, with VD1660 *-1, its result is VD1665.Namely get the absolute value of VD1660, its result is VD1665; 3. when VD1665＜5 or VD1665＞10 in the time of continued 1 second, the detector sampling value is calculated the timer T190 output that reports an error.
" network 11 " illustrates among Fig. 3 E: when detector lifting after 1 second, the T189 of the T188 of output or output when value is 1 always or sampling value are calculated the satisfied detector elevating movement fault that all can be judged to be of one of them condition of timer T190 that reports an error when value is 0 always, the M27.0 output that reports an error.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a motor movement failure monitoring method is characterized in that, described method comprises step:
Encoder pulse when gathering motor movement carries out binary counting by the counter paired pulses;
Get 1 binary digit of numerical value in the counter, judge whether the value of described binary digit changes, if do not change, judge that then motor movement breaks down, if change, then change next step over to;
Calculate described binary digit and equal the absolute value that 1 value and this binary digit equal the difference of 0 value, judge described absolute value whether within certain unit interval always greater than certain definite value or less than certain definite value, if judge that then motor or scrambler occur unusual and report an error, otherwise judge that motor movement is normal.
2. described motor movement failure monitoring method according to claim 1 is characterized in that, described binary digit is one of them binary digit in the least-significant byte of numerical value in the counter.
3. described motor movement failure monitoring method according to claim 1 is characterized in that, whether whether the value of described binary digit changes the value that refers to described binary digit changes between 0 and 1.
4. described motor movement failure monitoring method according to claim 1 is characterized in that, numerical value deposits a working storage A in the described counter.
5. described motor movement failure monitoring method according to claim 1, it is characterized in that, described binary digit equal 0 and 1 o'clock value deposit respectively working storage B and working storage C in, working storage C intermediate value is deducted working storage B intermediate value, and the result taken absolute value namely obtains described absolute value.
6. motor movement failure monitoring system, it comprises the scrambler that is connected with motor, is used for gathering the counter that binary counting is carried out in the pulse of motor movement information; It is characterized in that, described system also comprises:
Motion fault judging unit for 1 binary digit of getting counter numerical value, judges whether the value of described binary digit changes, if do not change, judges that then motor movement breaks down;
The scrambler abnormal deciding means, be used for calculating described binary digit and equal the absolute value that 1 value and this binary digit equal the difference of 0 value, judge described absolute value whether within certain unit interval always greater than certain definite value or less than certain definite value, if, judge that then scrambler in the motor driver occurs unusual and reports an error, otherwise judge that motor movement is normal.
7. described motor movement failure monitoring system according to claim 6 is characterized in that, described binary digit is one of them binary digit in the least-significant byte of numerical value in the counter.
8. described motor movement failure monitoring system according to claim 6 is characterized in that, whether whether the value of described binary digit changes the value that refers to described binary digit changes between 0 and 1.
9. described motor movement failure monitoring system according to claim 6 is characterized in that, numerical value deposits a working storage A in the described counter.
10. described motor movement failure monitoring system according to claim 6, it is characterized in that, described binary digit equal 0 and 1 o'clock value deposit respectively working storage B and working storage C in, working storage C intermediate value is deducted working storage B intermediate value, and the result taken absolute value namely obtains described absolute value.
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Cited By (4)
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| CN103825527A (en) * | 2014-03-07 | 2014-05-28 | 东莞易步机器人有限公司 | Motor encoder positioning method and system |
| CN105866683A (en) * | 2016-04-01 | 2016-08-17 | 深圳北航天汇创业孵化器有限公司 | Closed-loop stepping motor and driver test system |
| CN108663080A (en) * | 2018-05-21 | 2018-10-16 | 广东伊莱斯电机有限公司 | Absolute value encoder method for diagnosing faults in a kind of servo drive system |
| CN112526970A (en) * | 2020-11-27 | 2021-03-19 | 宣城睿晖宣晟企业管理中心合伙企业(有限合伙) | Industrial control equipment operation state detection method and device and electronic equipment |
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| CN108663080A (en) * | 2018-05-21 | 2018-10-16 | 广东伊莱斯电机有限公司 | Absolute value encoder method for diagnosing faults in a kind of servo drive system |
| CN108663080B (en) * | 2018-05-21 | 2020-06-09 | 广东伊莱斯电机有限公司 | Fault diagnosis method for absolute value encoder in servo drive system |
| CN112526970A (en) * | 2020-11-27 | 2021-03-19 | 宣城睿晖宣晟企业管理中心合伙企业(有限合伙) | Industrial control equipment operation state detection method and device and electronic equipment |
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